Obtain object id and uri through reasoning

[selBaez]

The brain has a capability to assign object ids by maximising object permanence. This means that if during one episode at location A, there were 5 chairs identified with ids 1-5, then the next episode at location A, when 3 chairs are detected the new detestions will be assigned ids 1-3, therefore assuming the same chairs stayed in the location.

This functionality is currently part of the brain processing, but we now want it to be part of the linking/disambiguation module. Therefore, it should be something like this:

# Get ids of existing objects in this location
memory = brain.location_reasoner.get_location_memory(capsule)
object_id, memory = get_object_id(memory, capsule['object']['type'])

capsule['object']['id'] = object_id
capsule['object']['uri'] =  str(self._rdf_builder.create_resource_uri('LW',
                                             casefold_text(f"{capsule['object']['type']} {objct_id}", format='triple')))